CN112009683A - Miniature double-flapping-wing aircraft - Google Patents
Miniature double-flapping-wing aircraft Download PDFInfo
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- CN112009683A CN112009683A CN202010783413.7A CN202010783413A CN112009683A CN 112009683 A CN112009683 A CN 112009683A CN 202010783413 A CN202010783413 A CN 202010783413A CN 112009683 A CN112009683 A CN 112009683A
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- B64C33/02—Wings; Actuating mechanisms therefor
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The invention discloses a miniature double-flapping-wing aircraft which comprises a middle connecting structure, an attitude control steering engine, a wing root position control mechanism and two front and rear flapping wing systems which are completely identical. The miniature double-flapping-wing aircraft further enhances the generation of lift force by means of a double-wing opening-closing mechanism; the flapping frequency of the front and rear two pairs of wings is influenced by changing the rotating speed of the motor, so that the front and rear asymmetric lifting forces are generated by the two pairs of wings, and the pitching control moment is further generated; the wing root position control mechanism is controlled by an attitude control steering engine to change the positions of two groups of wing root rods and change the tensioning degree of a flapping wing membrane, so that different lifting forces are generated by the left wing and the right wing, and rolling control torque is generated. The invention adopts one steering engine to control two groups of wing roots, simplifies a control mechanism, reduces control difficulty, realizes weight reduction and saves resources, and also realizes pneumatic lift increase by utilizing an opening-closing high lift mechanism.
Description
Technical Field
The invention relates to the field of miniature aircrafts, in particular to a miniature double-flapping-wing aircraft.
Background
With the continuous innovation of the design concept of the aircraft and the great progress of the microelectronic technology at the end of the last century, the micro aircraft is proposed and rapidly developed. The micro aircraft has the characteristics of small volume, light weight, strong maneuverability and the like, is suitable for detection, exploration, assistance rescue and other works in complex environments, and has wide application prospect. The bionic micro flapping wing aircraft is taken as an important branch of the micro aircraft, and gradually appears along with the development of the bionic design. The flapping wing micro air vehicle generates lift force by means of reciprocating flapping of the flapping wings, generates control torque by means of fine control on flapping processes of the flapping wings, can keep higher aerodynamic efficiency and sensitive maneuverability under the condition of low Reynolds number, and has flight capabilities of vertical take-off and landing, hovering and the like.
The insect-imitating flapping wing aircraft simulates flying organisms such as bees and flies in the nature, most of the insect-imitating flapping wing aircraft is provided with a pair of wings, and the lift force and the control moment of the insect-imitating flapping wing aircraft are generated by only one pair of wings, so that the problems of insufficient lift force, low rudder control efficiency, complex control scheme and the like of the insect-imitating flapping wing aircraft generally exist. In order to solve the problems, a miniature double-flapping wing aircraft is proposed nowadays, the aircraft is provided with a front pair of flapping wings and a rear pair of flapping wings, the lift force is increased due to the increase of the number of the wings, the moment control and the attitude control are performed on the integral control of the front pair of flapping wings and the rear pair of flapping wings, and the difficulty in controlling the rudder effect and the control design is reduced. The characteristics provide an effective scheme for developing a high-load micro aircraft.
With the research of the micro double-flapping wing aircraft, the performance of the current micro double-flapping wing aircraft still needs to be optimized and improved, especially on the design of a lift force generation and control system. The conventional micro double-flapping-wing aircraft adopts a mode of increasing the number of flapping wings to realize lift increase, but in order to avoid interference among multiple wings, the flapping amplitude of each flapping wing is greatly reduced, so that the lift generated by each flapping wing is also reduced, and therefore various non-constant high lift mechanisms need to be further explored and applied to the aircraft. On the other hand, the existing miniature double-flapping-wing aircraft mostly adopts a motor matched with three steering engines to carry out three-degree-of-freedom control. Every steering wheel all needs installation space and supporting fixing device, and this has increased the weight and the complexity of mechanism, and every steering wheel respectively has a control variable in addition, also needs the flight control system for its supporting solitary control signal passageway, and this also makes the control law complicated, has improved the degree of difficulty of design. Therefore, in order to further improve and improve the flight performance of the micro double-flapping-wing aircraft, a design scheme of the micro double-flapping-wing aircraft with higher lift force generation capacity, a control scheme and a simple control rate is still developed.
Disclosure of Invention
The invention discloses a miniature double-flapping-wing aircraft, which aims to solve the problems that the lift force still needs to be improved, the control mechanism and the control rate still need to be simplified and the like in the existing miniature double-flapping-wing aircraft. The aircraft adopts a front pair of flapping wings and a rear pair of flapping wings to generate lift force, and the lift force is further improved by fully utilizing the opening-closing effect of the double wings besides the traditional flapping wings to generate the lift force; the aircraft changes the design that two linear steering engines control the rolling into a single rotary steering engine to control two pairs of front and rear flapping wings together, thereby further simplifying the control mechanism, saving the control resource, reducing the weight of the aircraft and prolonging the endurance time.
The miniature double-flapping-wing aircraft comprises a middle connecting structure, an attitude control steering engine, a wing root position control mechanism and two front and rear flapping wing systems which are completely identical.
The middle connecting structure is of a three-dimensional structure, and the front end and the rear end of the upper part of the middle connecting structure are provided with two base mounting holes for fixing bases of the front and rear flapping wing systems so as to combine the two flapping wing systems into a whole; and an attitude control steering engine base is arranged at the lower part of the middle connecting structure so as to install the attitude control steering engine.
The flapping wing system comprises a hollow cup motor, a base, a reduction gear set, a flapping angle amplifying mechanism and flapping wings. The hollow cup motor is a high-power brush motor. The base is integrally formed through 3D printing and is of a bilaterally symmetrical structure; the lowermost end of the base is provided with a coreless motor mounting hole with the inner diameter slightly smaller than the outer diameter of the coreless motor, and the coreless motor mounting hole is used for mounting the coreless motor in an interference fit manner and is convenient to replace; the middle part of the base is provided with three middle mounting holes for mounting and positioning the reduction gear set; two Z-shaped connecting rod mounting holes and two rocker mounting holes are formed in the upper edge of the base and used for mounting the Z-shaped connecting rod and the rocker of the flapping angle amplifying mechanism; the upper half part of the symmetry axis of the base is provided with a top sliding groove for limiting the sliding block of the flapping angle amplifying mechanism to horizontally slide back and forth in the sliding groove.
The reduction gear set comprises a main shaft gear, a double-layer gear and a large gear; the main shaft gear is installed on an output shaft of the hollow cup motor, the large gear and the double-layer gear are installed on the base, and the upper gear and the lower gear of the double-layer gear are respectively meshed with the main shaft gear and the large gear. The high-speed rotating motion output by the coreless motor drives the double-layer gear and the large gear in sequence through the main shaft gear to realize speed reduction; and the bull gear is provided with a driving connecting rod mounting hole for mounting a driving connecting rod of the flapping angle amplifying mechanism.
The flapping angle amplifying mechanism is a crank-connecting rod mechanism and consists of a driving connecting rod, two Z-shaped connecting rods, two arc connecting rods and two rocking rods. Two ends of the driving connecting rod are provided with two driving connecting rod connecting holes; the two ends of the Z-shaped connecting rod are provided with a Z-shaped connecting rod connecting hole and a Z-shaped connecting rod connecting groove, and the middle of the Z-shaped connecting rod is provided with a Z-shaped connecting rod middle hole; two ends of the arc connecting rod are provided with two arc connecting rod connecting holes; one end of the rocker is provided with a rocker connecting hole, the other end of the rocker is provided with a main wing rod mounting hole along the axial direction, and the middle of the rocker is provided with a rocker middle hole; the first driving connecting rod connecting hole is hinged with the driving connecting rod mounting hole to form a crank, the second driving connecting rod connecting hole is hinged with the two Z-shaped connecting rod connecting grooves to form a hinge point, and the hinge point is constrained in the sliding groove at the top of the base to slide; the Z-shaped connecting rod is hinged to a Z-shaped connecting rod mounting hole of the base through a Z-shaped connecting rod middle hole, and the Z-shaped connecting rod connecting hole is hinged to the first arc connecting rod connecting hole; the second arc connecting rod connecting hole is hinged with the middle hole of the rocker; the rocker is hinged with the base rocker mounting hole through the rocker connecting hole, and the main wing rod mounting hole is fixedly connected with the main wing rod; the flapping angle amplifying mechanism amplifies the small-amplitude reciprocating motion of the driving connecting rod into large-amplitude swing of the rocker. In order to fully apply the 'opening-closing' high lift mechanism of multi-wing flapping, the distance between each pair of flapping wings when the flapping wings are swung to the extreme positions is the closest, and the force transmission characteristic of the link mechanism and the spatial position interference when the two pairs of flapping wings are swung limit the angle between the two extreme positions of the single-wing flapping, so that the angle between the two extreme positions of the single-wing flapping is designed to be 110-120 degrees, and the 'opening-closing' high lift mechanism principle of the multi-wing flapping is met.
The flapping wing is composed of a wing membrane, a main wing rod, an auxiliary wing rod and a wing root rod. The wing membrane is a flexible film, is usually made of polyethylene materials and the like, and is in a bionic flapping wing shape. The main wing rod is adhered to the front edge of the wing membrane, and the auxiliary wing rod is adhered to the wing membrane and forms a 30-degree angle with the main wing rod. The wing root rod is adhered to the left side of the wing membrane in a flat state of the wing membrane and forms a 110-120 degree angle with the front edge of the wing membrane, and after the flapping wing is installed, the wing root rod is perpendicular to the main wing rod, so that the wing membrane is loosened after installation. In the flapping process, the main wing rod drives the auxiliary wing rod and the wing membrane to flap in a high-frequency reciprocating mode, the auxiliary wing rod and the wing membrane deform under the action of inertia force and pneumatic force, the maximum deformation of the wing membrane is restrained by the position of the wing root rod, and the attack angle at the position of the flapping wing span-wise area second moment at the middle moment of up-down flapping is 25-35 degrees so as to maintain high pneumatic efficiency. By changing the positions of the wing root rod, the tension degree of the wing membrane can be changed, and then the upper and lower flapping angles of attack are changed to generate different aerodynamic force and aerodynamic moment.
The wing root position control mechanism is H-shaped, wing root rod positioning holes are formed in four end points to restrain the wing root rods, and a steering engine arm connecting groove is formed in the middle beam; the attitude control steering engine is a microminiature high-torque rotary steering engine and is arranged at the lower part of the middle connecting structure, and one end of a steering engine arm is fixedly connected with a rivet; during flight control, the rotary motion of the rudder horn makes the rivets at the end part generate circular arc motion tracks, the rivets slide back and forth in the connecting grooves of the rudder horn to drive the wing root position control mechanism to move left and right, so that the rotating angle of the attitude control steering engine is converted into horizontal movement of the wing root position control mechanism, the left and right positions of the wing root rod are changed, and the flapping wing is controlled to obtain pneumatic control torque.
The main principle of the miniature double-flapping-wing aircraft for generating high lift force by applying an opening-closing mechanism is as follows: in the flapping process, the included angle between the two extreme positions of the single wing is about 110 degrees; when flapping on the flapping wings, the flapping wings move oppositely and move oppositely on the same side, when the flapping wings are at the extreme position, the flapping wings are closed oppositely and adjacent left and right under the action of the deceleration inertia force, the wing tips of the two flapping wings are attached together after deforming, and then the flapping wings rotate downwards along with the upward flapping, the two flapping wings move reversely, and the wing membranes attached originally are opened quickly under the driving of the main wing rod. According to the aerodynamic principle, the two flapping wings can generate significant high lift force in the processes of fast closing and opening, and the high lift force can greatly supplement the lift force generated by the traditional flapping motion, so that the high lift effect is realized.
A rolling control torque generation method of a miniature double-flapping-wing aircraft comprises the following steps: when the aircraft needs right rolling torque, the attitude control steering engine rotates anticlockwise, and the wing root position control mechanism drives the wing root rods of the front and rear pairs of flapping wings to translate rightwards at the same time, so that the left flapping wing membrane is tensioned, the lifting force is increased, the right flapping wing membrane is relaxed, the lifting force is reduced, right rolling control torque is generated, and the right rolling action of the aircraft is completed; when the aircraft needs a roll moment, the attitude control steering engine rotates clockwise, the wing root position control mechanism drives the front and rear two pairs of flapping wing root rods to simultaneously translate leftwards, so that the flapping wing membranes on the right side are tensioned, the lift force is increased, the flapping wing membranes on the left side are relaxed, the lift force is reduced, a roll control moment is generated, and then the roll action of the aircraft is completed.
A pitch control moment generation method of a miniature double-flapping-wing aircraft comprises the following steps: when the aircraft needs a head raising moment, the rotating speed of the hollow cup motor at the front end rises, the rotating speed of the hollow cup motor at the rear end falls, the main shaft gear and the reduction gear set are respectively driven by the front hollow cup motor and the rear hollow cup motor, the flapping wings are driven to flap reciprocally through the flapping angle amplifying mechanism, the flapping frequency of the front flapping wings is increased, the lift force is increased, the flapping frequency of the rear flapping wings is reduced, the lift force is reduced, a pitching control moment is generated, and the head raising action of the aircraft is completed; when the aircraft needs a head lowering moment, the rotating speed of the hollow cup motor at the rear end rises, the rotating speed of the hollow cup motor at the front end falls, the main shaft gear and the reduction gear set are respectively driven by the front hollow cup motor and the rear hollow cup motor, the flapping wings are driven to flap reciprocally through the flapping angle amplifying mechanism, the flapping frequency of the flapping wings at the rear is increased, the lift force is increased, the flapping frequency of the flapping wings at the front is reduced, the lift force is reduced, a pitching control moment is generated, and the head lowering action of the aircraft is completed.
The invention has the advantages that:
(1) a miniature double-flapping-wing aircraft controls the positions of wing root rods of two pairs of flapping wings through a rotary attitude control steering engine, realizes rolling control, effectively reduces the weight of the aircraft, reduces the control difficulty, saves control software and hardware resources, and reduces the power consumption;
(2) a miniature double-flapping wing aircraft further enhances the generation of lift force by means of an opening-closing mechanism of flapping wings;
(3) two groups of flapping wings are respectively controlled by two coreless motors, and the flapping frequency of each pair of flapping wings is differentially controlled by the rotating speed of the coreless motors, so that the two pairs of flapping wings generate different aerodynamic forces, a large pitching moment is generated, and the maneuverability of the aircraft in the pitching direction is increased.
Drawings
FIG. 1 is a schematic view of the overall scheme of a miniature double-flapping-wing aircraft;
FIG. 2 is a schematic view of a reduction gear set of a miniature dual-flapping wing aircraft according to the present invention;
FIG. 3 is a schematic view of a flapping angle amplifying mechanism of a miniature double-flapping wing aircraft according to the invention;
FIG. 4 is a schematic view of the flapping wings of a miniature dual-flapping wing aircraft according to the present invention;
FIG. 5 is a schematic view of the middle connection structure of a micro double-flapping-wing aircraft according to the invention;
FIG. 6 is a schematic view of a mechanism for controlling the attitude control wing root position of a miniature dual-flapping wing aircraft according to the present invention;
in the figure:
1-a reduction gear set; 101-a main shaft gear; 102-double layer gear; 103-bull gear; 104-drive link mounting holes; 105-rocker mounting holes; 106-Z type connecting rod mounting holes; 107-top chute; 108-coreless motor mounting holes; 2-a flapping angle amplifying mechanism; 201-a drive link; 202-Z shaped linkage; 203-arc connecting rod; 204-rocker; 3-a coreless motor; 4-a base; 5-flapping wings; 501-main wing rod; 502-auxiliary wing rod; 503-wing root rod; 504-winged membranes; 6-intermediate connection structure; 601-base mounting holes; 602-attitude control steering engine mounting holes; 7-attitude control steering engine; 8-wing root position control mechanism; 801-wing root rod positioning holes; 802-steering engine arm connecting groove;
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in figure 1, the micro double-flapping-wing aircraft takes the arrow direction in the figure as the front, and consists of a front flapping-wing system, a rear flapping-wing system, a middle connecting structure 6, an attitude control steering engine 7 and a wing root position control mechanism 8 which are completely identical. Each set of flapping wing system comprises a reduction gear set 1, a flapping angle amplifying mechanism 2, a hollow cup motor 3, a base 4 and flapping wings 5.
As shown in fig. 2, the reduction gear set 1 includes a main shaft gear 101, a double-layer gear 102, and a large gear 103. The main shaft gear 101 is installed on the output shaft of the coreless motor, the bull gear 103 and the double-layer gear 102 are installed in the middle installation hole of the base 4, and the upper gear and the lower gear of the double-layer gear 102 are respectively meshed with the main shaft gear 101 and the bull gear 103. The high-speed rotation motion output by the coreless motor drives the double-layer gear 102 and the large gear 103 to realize speed reduction through the main shaft gear 101. The driving link mounting hole 104 is formed in the large gear 103 and used for mounting the driving link 201 of the flapping angle amplifying mechanism 2.
As shown in fig. 3, the flapping angle amplifying mechanism 2 is a crank-link mechanism, and is composed of a driving link 201, two Z-shaped links 202, two arc links 203, and two rockers 204. Two ends of the driving connecting rod 201 are provided with two driving connecting rod connecting holes; the two ends of the Z-shaped connecting rod 202 are provided with a Z-shaped connecting rod connecting hole and a Z-shaped connecting rod connecting groove, and the middle of the Z-shaped connecting rod 202 is provided with a Z-shaped connecting rod middle hole; two ends of the arc connecting rod 203 are provided with two arc connecting rod connecting holes; one end of the rocker 204 is provided with a rocker connecting hole, the other end of the rocker is provided with a main wing rod 501 mounting hole along the axial direction, and the middle of the rocker is provided with a rocker middle hole; the first driving connecting rod connecting hole is hinged with the driving connecting rod mounting hole 104 to form a crank, the second driving connecting rod connecting hole is hinged with the two Z-shaped connecting rod connecting grooves to form a hinged point, and the hinged point is constrained in the sliding groove 107 at the top of the base 4 to slide; the Z-shaped connecting rod 202 is hinged with the Z-shaped connecting rod mounting hole 106 of the base 4 through the Z-shaped connecting rod middle hole, and the Z-shaped connecting rod connecting hole is hinged with the first arc connecting rod connecting hole; the second arc connecting rod connecting hole is hinged with the middle hole of the rocker; the rocker 204 is hinged with a rocker mounting hole of the base 4 through the rocker connecting hole, and the main wing rod mounting hole is fixedly connected with the main wing rod 501; the pan angle amplification mechanism 2 amplifies a small amplitude reciprocating motion of the drive link 201 to a large amplitude oscillation of the rocker 204.
The hollow cup motor 3 is a high-power brush motor. And the flapping-angle amplifying mechanism is arranged at the lower part of the base and is used for driving the reduction gear set 1 and the flapping-angle amplifying mechanism 2 to provide periodic reciprocating motion for the flapping wings 5.
The base 4 is integrally formed through 3D printing and is of a bilateral symmetry structure. The lowermost end of the base 4 is provided with a coreless motor mounting hole 108 with the inner diameter slightly smaller than the outer diameter of the coreless motor 3, and the coreless motor 3 is mounted in an interference fit manner and is convenient to replace; the middle part of the base 4 is provided with three middle mounting holes for mounting and positioning the reduction gear set 1; two rocker mounting holes 105 and two Z-shaped connecting rod mounting holes 106 are distributed on the upper edge of the base 4 and used for mounting the flapping angle amplifying mechanism 2; the top sliding groove 107 is arranged at the upper half part of the symmetry axis of the base 4, and the rivet fixedly connected to the driving connecting rod 201 is limited to horizontally slide back and forth in the top sliding groove.
As shown in fig. 4, the flapping wing 5 is composed of a wing membrane 504, a main wing rod 501, an auxiliary wing rod 502 and a wing root rod 503. The wing membrane 504 is a flexible film, is usually made of polyethylene material and the like, and is in a bionic flapping wing shape. The main wing bar 501 is adhered to the leading edge of the wing film 504, and the auxiliary wing bar 502 is adhered to the wing film 504 at 30 ° to the main wing bar 501. In the state that the wing film 504 is laid flat, the wing root rod 503 is adhered to the left side of the wing film 504 and is 110-120 degrees to the front edge of the wing film 504, after the flapping wing 5 is installed, the wing root rod 503 is perpendicular to the main wing rod 501, so that the wing film 504 is loose after installation. In the flapping process, the main wing rod 501 drives the auxiliary wing rod 502 and the wing membrane 504 to flap in a high-frequency reciprocating mode, the auxiliary wing rod 502 and the wing membrane 504 deform under the action of inertia force and pneumatic force, the maximum deformation of the membrane is restrained by the position of the wing root rod 503, and the attack angle at the spanwise area second moment position at the middle moment of up-down flapping is 25-35 degrees so as to maintain high pneumatic efficiency. By changing the front, rear, left and right positions of the wing root rod 503, the tension degree of the wing membrane 504 can be changed, and further, the up-down flapping angle of attack is changed to generate different aerodynamic force and aerodynamic moment.
As shown in fig. 5, the middle connection structure 6 is a three-dimensional structure, and two base mounting holes 601 are formed at the front end and the rear end of the upper portion of the middle connection structure for fixing the front and rear sets of bases 4 of the flapping wing systems, so as to combine the two sets of flapping wing systems into a whole. And an attitude control steering engine base is arranged at the lower part of the middle connecting structure 6, and an attitude control steering engine mounting hole 602 is formed so as to mount the attitude control steering engine 7. The attitude control steering engine 7 is a microminiature large-torque rotary steering engine and is arranged on the lower part of the middle connecting structure 6, and a rivet is fixedly connected to a steering engine arm.
As shown in fig. 6, the wing root position control mechanism 8 is H-shaped, four end points are provided with holes 801 for restraining a wing root rod 503, and a middle beam is provided with a steering engine arm connecting groove 802. During flight control, the rotating motion of the rudder horn makes the rivets at the end part generate circular arc motion tracks, the rivets slide back and forth in the rudder horn connecting grooves 802 to drive the wing root position control mechanism 8 to move left and right, so that the rotating angle of the attitude control steering engine 7 is converted into the left and right translation of the wing root position control mechanism 8, the left and right positions of the wing root rod 503 are changed, and the deformation of the flapping wings 5 is controlled to obtain pneumatic control torque.
The main principle of the miniature double-flapping-wing aircraft for generating high lift force by applying an opening-closing mechanism is as follows: in the flapping process, the included angle between the two extreme positions of the single wing is about 110 degrees; when flapping 5, the same side is adjacent flapping 5 moves in opposite directions, when the extreme position is reached, the flapping 5 is closed in opposite directions under the action of the deceleration inertia force, the wing tips of the two wings are attached together after deforming, and then the flapping is rotated along with the upper side to flap down, the two wings move in opposite directions under the driving of the main wing rod 501, and the wing membrane 504 which is originally attached is opened rapidly. According to the aerodynamic principle, the two wings can generate obvious high lift force in the processes of fast folding and opening, and the high lift force can greatly supplement the lift force generated by the traditional flapping motion, so that the high lift effect is realized.
A miniature double-flapping-wing aircraft is assembled according to the following method: the flapping wing system is first assembled on one side. The spindle gear 101 is connected with the coreless motor 3 through interference fit, and the coreless motor 3 is assembled in the coreless motor mounting hole 108 of the base 4 through interference fit. The bull gear 103 is assembled on an installation hole in the middle of the base 4 through a rivet, and the double-layer gear 102 can be assembled on either left side or right side of the bull gear installation hole through a rivet. The double-layer gear 102 is engaged with the main shaft gear 101 and the large gear 103. A first driving connecting rod connecting hole at one end of the driving connecting rod 201 is hinged with a driving connecting rod mounting hole of the large gear 103 to form a crank, a second driving connecting rod connecting hole at the other end is hinged with two Z-shaped connecting rod connecting grooves at one end of the Z-shaped connecting rods 202, and the hinged point is constrained in the top sliding groove 107 of the base 4 to slide. The two Z-shaped connecting rods 202 are respectively hinged in the Z-shaped connecting rod mounting holes 106 on the base 4 through the Z-shaped connecting rod middle holes and are hinged with the first arc connecting rod connecting hole at one end of the arc connecting rod 203 through the Z-shaped connecting rod connecting hole at one end. A second arc connecting rod connecting hole at the other end of the arc connecting rod 203 is hinged with a rocker middle hole of the rocker 204. One end of each of the two rockers 204 is axially provided with a main wing rod mounting hole to be fixedly connected with the main wing rod 501, rocker connecting holes at the other end of each rocker 204 are respectively connected with the rocker mounting holes 105 at the upper edge of the base 4 through hollow rivets, and one end of the wing root rod 503 is adhered to the hollow of the rivet. And then assembling the mounting holes of the coreless motors of the two sets of assembled flapping wing systems in the hole 601 of the middle connecting structure 6 to ensure that the two sets of flapping wing systems are longitudinally and fixedly connected in tandem, and mounting the attitude control steering engine 7 on the attitude control steering engine base through the hole 602. And finally, assembling the wing root position control mechanism 8, respectively installing four wing root positioning holes 801 at the top points on the four wing root rods 503, and hinging the rudder horn connecting groove 802 in the middle part with the attitude control steering engine horn. The miniature double-flapping-wing aircraft is assembled.
A rolling control torque generation method of a miniature double-flapping-wing aircraft comprises the following steps: when the aircraft needs right rolling torque, the attitude control steering engine 7 rotates anticlockwise, and the wing root position control mechanism 8 drives the front and rear pairs of wing root rods 503 to translate rightwards at the same time, so that the wing membrane 504 of the flapping wing on the left side is tensioned, the lift force is increased, the wing membrane 504 of the flapping wing on the right side is relaxed, the lift force is reduced, and then right rolling control torque is generated, and the right rolling action of the aircraft is completed; when the aircraft needs left rolling torque, the attitude control steering engine 7 rotates clockwise, the wing root position control mechanism 8 drives the front and rear pairs of wing root rods 503 to simultaneously translate leftwards, so that the right side of the flapping wing membrane 504 is tensioned, the lift force is increased, the left side of the flapping wing membrane 504 is relaxed, the lift force is reduced, left rolling control torque is generated, and the left rolling action of the aircraft is completed.
A pitch control moment generation method of a miniature double-flapping-wing aircraft comprises the following steps: the rotating speed of the hollow cup motor at the front end is increased, the rotating speed of the hollow cup motor at the rear end is reduced, the front hollow cup motor and the rear hollow cup motor respectively drive the spindle gear 101 and the reduction gear set 1, the flapping wing 5 is driven to flap in a reciprocating manner through the flapping angle amplifying mechanism 2, the flapping frequency of the front flapping wing is increased, the lifting force is increased, the flapping frequency of the rear flapping wing is reduced, the lifting force is reduced, the pitching control moment is generated, and the head raising action of the aircraft is completed; when the aircraft needs a head lowering moment, the rotating speed of the hollow cup motor at the rear end rises, the rotating speed of the hollow cup motor at the front end falls, the main shaft gear 101 and the reduction gear set 1 are respectively driven by the front hollow cup motor and the rear hollow cup motor, the flapping wings 5 are driven to flap reciprocally through the flapping angle amplifying mechanism 2, the flapping frequency of the flapping wings 5 is increased, the lifting force is increased, the flapping frequency of the flapping wings 5 is reduced, the lifting force is reduced, a pitching control moment is generated, and the head lowering action of the aircraft is completed.
Claims (9)
1. The utility model provides a miniature two flapping wing aircraft, includes a middle connection structure, an attitude control steering wheel, a wing root position control mechanism and two identical flapping wing systems of front and back, its characterized in that:
the middle connecting structure is of a three-dimensional structure, and the front end and the rear end of the upper part of the three-dimensional structure are provided with two base mounting holes for fixing the bases of the front and the rear flapping wing systems so as to combine the two flapping wing systems into a whole; an attitude control steering engine base is arranged at the lower part of the three-dimensional structure so as to be convenient for mounting the attitude control steering engine;
the flapping wing system comprises a hollow cup motor, a base, a reduction gear set, a flapping angle amplifying mechanism and flapping wings; the lower end of the base is provided with the hollow cup motor, the middle part of the base is provided with the reduction gear set, and the upper end of the base is provided with the flapping angle amplifying mechanism and the flapping wings;
the reduction gear set comprises a main shaft gear, a double-layer gear and a large gear; the main shaft gear is arranged on an output shaft of the coreless motor, the large gear and the double-layer gear are arranged on the base, and the upper gear and the lower gear of the double-layer gear are respectively meshed with the main shaft gear and the large gear;
the flapping angle amplifying mechanism is a crank-connecting rod mechanism, comprises a driving connecting rod, two Z-shaped connecting rods, two arc connecting rods and two rocking rods and is arranged on the base;
the flapping wing consists of a wing membrane, a main wing rod, an auxiliary wing rod and a wing root rod; the wing membrane is a flexible film, the main wing rod is adhered to the front edge of the wing membrane, and the auxiliary wing rod is adhered to the wing membrane and forms an angle of 30 degrees with the main wing rod; the wing root rod is adhered to the left side of the wing membrane in a tiled state of the wing membrane and forms an angle of 110-120 degrees with the front edge of the wing membrane; after the flapping wing is installed, the wing root rod is perpendicular to the main wing rod, so that the wing membrane is loosened after installation; the tension degree of the wing membrane is changed by changing the front, back, left and right positions of the wing root rod, so that the up-down flapping attack angle is changed to generate different aerodynamic force and aerodynamic moment;
the wing root position control mechanism is H-shaped, wing root rod positioning holes are formed in four end points to restrain the wing root rods, and a steering engine arm connecting groove is formed in the middle beam; the attitude control steering engine is a microminiature high-torque rotary steering engine and is arranged at the lower part of the middle connecting structure, and one end of a steering engine arm is fixedly connected with a rivet; during flight control, the rotary motion of the rudder horn makes the rivets at the end part generate circular arc motion tracks, the rivets slide back and forth in the connecting grooves of the rudder horn to drive the wing root position control mechanism to move left and right, so that the rotation of the attitude control steering engine is converted into horizontal translation of the wing root position control mechanism, the left and right positions of the wing root rod are changed, and the flapping wing is controlled to obtain pneumatic control torque.
2. The micro double ornithopter of claim 1, wherein the base is integrally formed by 3D printing and has a left-right symmetrical structure; the lowermost end of the base is provided with a coreless motor mounting hole with the inner diameter slightly smaller than the outer diameter of the coreless motor, and the coreless motor mounting hole is used for mounting the coreless motor in an interference fit manner and is convenient to replace; the middle part of the base is provided with three middle mounting holes for mounting and positioning the reduction gear set; two Z-shaped connecting rod mounting holes and two rocker mounting holes are formed in the upper edge of the base and used for mounting the Z-shaped connecting rod and the rocker of the flapping angle amplifying mechanism; the upper half part of the symmetry axis of the base is provided with a top sliding groove for limiting the sliding block of the flapping angle amplifying mechanism to horizontally slide back and forth in the sliding groove.
3. The miniature dual ornithopter of claim 1, wherein the high speed rotational motion output from said coreless motor is decelerated by said double gear and said bull gear being sequentially driven by said main shaft gear; and the bull gear is provided with a driving connecting rod mounting hole for mounting a driving connecting rod of the flapping angle amplifying mechanism.
4. The micro double-flapping-wing aircraft of claim 1, wherein two driving link connecting holes are arranged at two ends of the driving link of the flapping angle amplifying mechanism; the two ends of the Z-shaped connecting rod are provided with a Z-shaped connecting rod connecting hole and a Z-shaped connecting rod connecting groove, and the middle of the Z-shaped connecting rod is provided with a Z-shaped connecting rod middle hole; two ends of the arc connecting rod are provided with two arc connecting rod connecting holes; one end of the rocker is provided with a rocker connecting hole, the other end of the rocker is provided with a main wing rod mounting hole along the axial direction, and the middle of the rocker is provided with a rocker middle hole; the first driving connecting rod connecting hole is hinged with the driving connecting rod mounting hole to form a crank, the second driving connecting rod connecting hole is hinged with the two Z-shaped connecting rod connecting grooves to form a hinge point, and the hinge point is constrained in the sliding groove at the top of the base to slide; the Z-shaped connecting rod is hinged to a Z-shaped connecting rod mounting hole of the base through a Z-shaped connecting rod middle hole, and the Z-shaped connecting rod connecting hole is hinged to the first arc connecting rod connecting hole; the second arc connecting rod connecting hole is hinged with the middle hole of the rocker; the rocker is hinged with the base rocker mounting hole through the rocker connecting hole, and the main wing rod mounting hole is fixedly connected with the main wing rod; the flapping angle amplifying mechanism amplifies the small-amplitude reciprocating motion of the driving connecting rod into large-amplitude swing of the rocker.
5. The micro-ornithopter of claim 1, wherein the flapping angle amplification mechanism achieves an angle between the extreme positions of single-wing flapping of between 110 ° and 120 ° to fully utilize the "open-close" high lift mechanism of multi-wing flapping to increase lift.
6. The micro dual ornithopter of claim 1, wherein the wing membrane is a flexible membrane made of polyethylene material and is in the shape of a bionic flapping wing.
7. The miniature dual flapping wing aircraft of claim 1, wherein during flapping of said flapping wings, said main wing rod drives said auxiliary wing rod and said wing membrane to flap reciprocally at high frequency, said auxiliary wing rod and said wing membrane deform under inertial and aerodynamic forces, and the maximum deformation of said wing membrane is constrained by the position of said wing root rod such that the angle of attack at the secondary moment of the flapping spanwise area at the mid-up and down flapping moments is between 25 ° and 35 °.
8. The method for generating the pneumatic control torque of the miniature double-flapping-wing aircraft as claimed in claims 1-7 comprises a rolling control torque generation method and a pitching control torque generation method, and is characterized in that when the aircraft needs right rolling torque, the attitude control steering engine rotates anticlockwise, and the wing root position control mechanism drives the wing root rods of the front and rear pairs of flapping wings to translate rightwards simultaneously, so that the flapping wing membrane on the left side is tensioned, the lifting force is increased, the flapping wing membrane on the right side is relaxed, the lifting force is reduced, and then right rolling control torque is generated, and further the right rolling action of the aircraft is completed; when the aircraft needs a roll moment, the attitude control steering engine rotates clockwise, the wing root position control mechanism drives the front and rear two pairs of flapping wing root rods to simultaneously translate leftwards, so that the flapping wing membranes on the right side are tensioned, the lift force is increased, the flapping wing membranes on the left side are relaxed, the lift force is reduced, a roll control moment is generated, and then the roll action of the aircraft is completed.
9. The method for generating aerodynamic control torque according to claim 8, wherein when the aircraft requires head-up torque, the rotation speed of the front-end coreless motor is increased, the rotation speed of the rear-end coreless motor is decreased, the front-end coreless motor and the rear-end coreless motor respectively drive the main shaft gear and the reduction gear set, the flapping wing is driven to flap reciprocally by the flapping angle amplification mechanism, so that the flapping frequency of the front flapping wing is increased, the lift force is increased, the flapping frequency of the rear flapping wing is decreased, the lift force is decreased, and thus pitch control torque is generated, and the head-up action of the aircraft is completed; when the aircraft needs a head lowering moment, the rotating speed of the hollow cup motor at the rear end rises, the rotating speed of the hollow cup motor at the front end falls, the main shaft gear and the reduction gear set are respectively driven by the front hollow cup motor and the rear hollow cup motor, the flapping wings are driven to flap reciprocally through the flapping angle amplifying mechanism, the flapping frequency of the flapping wings at the rear is increased, the lift force is increased, the flapping frequency of the flapping wings at the front is reduced, the lift force is reduced, a pitching control moment is generated, and the head lowering action of the aircraft is completed.
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| CN113911344A (en) * | 2021-11-08 | 2022-01-11 | 北京航空航天大学 | Bionic flapping wing micro aircraft for rolling control by using wing flapping amplitude differential motion |
| CN114104283A (en) * | 2021-11-08 | 2022-03-01 | 北京航空航天大学 | Bionic miniature flapping wing aircraft lift force and rolling torque control method |
| CN114104283B (en) * | 2021-11-08 | 2024-06-25 | 北京航空航天大学 | Bionic micro flapping wing aircraft lift force and rolling moment control method |
| CN113911344B (en) * | 2021-11-08 | 2023-06-27 | 北京航空航天大学 | Bionic flapping-wing micro air vehicle for rolling control by utilizing flapping amplitude differential motion |
| CN114261516B (en) * | 2021-12-03 | 2023-07-14 | 西北工业大学深圳研究院 | Flapping wing aircraft |
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| CN114889821A (en) * | 2022-05-24 | 2022-08-12 | 深圳市人工智能与机器人研究院 | Four-wing flapping wing micro water surface aircraft and flight method |
| CN114889821B (en) * | 2022-05-24 | 2023-02-24 | 深圳市人工智能与机器人研究院 | Four-wing flapping wing micro water surface aircraft and flight method |
| CN115352629B (en) * | 2022-09-02 | 2023-10-03 | 中南大学 | Multi-wing aircraft based on flapping rotor principle |
| CN115352629A (en) * | 2022-09-02 | 2022-11-18 | 中南大学 | Multi-wing aircraft based on flapping rotor wing principle |
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